#include <ros/ros.h>
#include <iostream>
#include "trajectory/trajectory.h"

int main(int argc, char ** argv)
{
    ros::init(argc, argv, "trajectory");
    ros::NodeHandle nh;
    ros::NodeHandle private_nh("~");

    std::string map_file("");
    std::string vehicle_param_file("");
    std::string file_path("");

    private_nh.getParam("map_file", map_file);
    private_nh.getParam("param_file", vehicle_param_file);
    private_nh.getParam("path", file_path);

    trajectory::Trajectory trajectory(nh, private_nh);
    trajectory.Start();

    ros::shutdown();
    return 0;
}